#include <yarp/os/RosNameSpace.h>

Inheritance diagram for yarp::os::RosNameSpace:

Public Member Functions
	RosNameSpace (const Contact &contact)

virtual	~RosNameSpace ()

Contact	getNameServerContact () const override
	Get an address for a name server that manages the name space, if available. More...

Contact	queryName (const std::string &name) override
	Map from port name to contact information. More...

Contact	registerName (const std::string &name) override
	Record contact information to tie to a port name. More...

Contact	registerContact (const Contact &contact) override
	Record contact information (should include a port name). More...

Contact	unregisterName (const std::string &name) override
	Disassociate contact information from a port name. More...

Contact	unregisterContact (const Contact &contact) override
	Disassociate contact information (should include a port name). More...

virtual Contact	registerAdvanced (const Contact &contact, NameStore *store) override
	Record contact information, with access to the contact information of other ports for cross-referencing. More...

virtual Contact	unregisterAdvanced (const std::string &name, NameStore *store) override
	Remove contact information, with access to the contact information of other ports for cross-referencing. More...

virtual bool	setProperty (const std::string &name, const std::string &key, const Value &value) override
	Associate a key/value pair with a named port. More...

virtual Value *	getProperty (const std::string &name, const std::string &key) override
	Get the value of a named key from a named port. More...

virtual bool	connectPortToTopic (const Contact &src, const Contact &dest, const ContactStyle &style) override
	Publish a port to a topic. More...

virtual bool	connectTopicToPort (const Contact &src, const Contact &dest, const ContactStyle &style) override
	Subscribe a port to a topic. More...

virtual bool	disconnectPortFromTopic (const Contact &src, const Contact &dest, const ContactStyle &style) override
	Stop publishing a port to a topic. More...

virtual bool	disconnectTopicFromPort (const Contact &src, const Contact &dest, const ContactStyle &style) override
	Stop subscribing a port to a topic. More...

virtual bool	connectPortToPortPersistently (const Contact &src, const Contact &dest, const ContactStyle &style) override
	Connect two ports with persistence. More...

virtual bool	disconnectPortToPortPersistently (const Contact &src, const Contact &dest, const ContactStyle &style) override
	Disconnect two ports, removing any persistence. More...

virtual bool	connectTopic (Bottle &cmd, bool srcIsTopic, const Contact &src, const Contact &dest, const ContactStyle &style, bool activeRegistration)

bool	localOnly () const override
	Check if the NameSpace is only valid for the current process ("local"). More...

bool	usesCentralServer () const override
	Check if a central server is involved in managing the NameSpace. More...

bool	serverAllocatesPortNumbers () const override
	Check if a central server is responsible for allocating port numbers, or if this should be left up to the operating system. More...

bool	connectionHasNameOfEndpoints () const override
	When connections are made involving ports managed by this NameSpace do the ports involved end up knowing the names of their counterparties? More...

virtual Contact	detectNameServer (bool useDetectedServer, bool &scanNeeded, bool &serverUsed) override
	Find a name server for this NameSpace, if applicable. More...

virtual bool	writeToNameServer (PortWriter &cmd, PortReader &reply, const ContactStyle &style) override
	Write a message to a name server for this NameSpace, if applicable. More...

void	run () override
	Main body of the new thread. More...

Public Member Functions inherited from yarp::os::NameSpace
virtual	~NameSpace ()
	Destructor. More...

virtual bool	checkNetwork ()
	Check if a name space is available. More...

virtual bool	checkNetwork (double timeout)
	Check if a name space is available, with a timeout on any network operations needed. More...

virtual std::string	getNameServerName () const
	Get the port name of a name server that manages the name space, if available. More...

Public Member Functions inherited from yarp::os::Thread
	Thread ()
	Constructor. More...

virtual	~Thread ()
	Destructor. More...

virtual void	onStop ()
	Call-back, called while halting the thread (before join). More...

bool	start ()
	Start the new thread running. More...

bool	stop ()
	Stop the thread. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

bool	isStopping ()
	Returns true if the thread is stopping (Thread::stop has been called). More...

bool	isRunning ()
	Returns true if the thread is running (Thread::start has been called successfully and the thread has not stopped). More...

long int	getKey ()
	Get a unique identifier for the thread. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority ()
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy ()
	Query the current scheduling policy of the thread, if the OS supports that. More...

bool	join (double seconds=-1)
	The function returns when the thread execution has completed. More...

void	setOptions (int stackSize=0)
	Set the stack size for the new thread. More...

Static Public Member Functions
static std::string	toRosName (const std::string &name)
	Possible ROS names are a subset of YARP names. More...

static std::string	fromRosName (const std::string &name)

static std::string	toRosNodeName (const std::string &name)

static std::string	fromRosNodeName (const std::string &name)

static Contact	rosify (const Contact &contact)

Static Public Member Functions inherited from yarp::os::Thread
static int	getCount ()
	Check how many threads are running. More...

static long int	getKeyOfCaller ()
	Get a unique identifier for the calling thread. More...

static void	yield ()
	Reschedule the execution of current thread, allowing other threads to run. More...

static void	setDefaultStackSize (int stackSize)
	Set the default stack size for all threads created after this point. More...

Detailed Description

Definition at line 23 of file RosNameSpace.h.

Constructor & Destructor Documentation

◆ RosNameSpace()

RosNameSpace::RosNameSpace ( const Contact & contact )

Definition at line 32 of file RosNameSpace.cpp.

◆ ~RosNameSpace()

RosNameSpace::~RosNameSpace ( )

virtual

Definition at line 38 of file RosNameSpace.cpp.

Member Function Documentation

◆ connectionHasNameOfEndpoints()

bool RosNameSpace::connectionHasNameOfEndpoints ( ) const

overridevirtual

When connections are made involving ports managed by this NameSpace do the ports involved end up knowing the names of their counterparties?

Implements yarp::os::NameSpace.

Definition at line 540 of file RosNameSpace.cpp.

◆ connectPortToPortPersistently()

bool RosNameSpace::connectPortToPortPersistently	(	const Contact &	src,
		const Contact &	dest,
		const ContactStyle &	style
	)

overridevirtual

Connect two ports with persistence.

Implements yarp::os::NameSpace.

Definition at line 456 of file RosNameSpace.cpp.

◆ connectPortToTopic()

bool RosNameSpace::connectPortToTopic	(	const Contact &	src,
		const Contact &	dest,
		const ContactStyle &	style
	)

overridevirtual

Publish a port to a topic.

Implements yarp::os::NameSpace.

Definition at line 404 of file RosNameSpace.cpp.

◆ connectTopic()

bool RosNameSpace::connectTopic	(	Bottle &	cmd,
		bool	srcIsTopic,
		const Contact &	src,
		const Contact &	dest,
		const ContactStyle &	style,
		bool	activeRegistration
	)

virtual

Definition at line 476 of file RosNameSpace.cpp.

◆ connectTopicToPort()

bool RosNameSpace::connectTopicToPort	(	const Contact &	src,
		const Contact &	dest,
		const ContactStyle &	style
	)

overridevirtual

Subscribe a port to a topic.

Implements yarp::os::NameSpace.

Definition at line 418 of file RosNameSpace.cpp.

◆ detectNameServer()

Contact RosNameSpace::detectNameServer	(	bool	useDetectedServer,
		bool &	scanNeeded,
		bool &	serverUsed
	)

overridevirtual

Find a name server for this NameSpace, if applicable.

Parameters

useDetectedServer	use any server found for future queries.
scanNeeded	set to true if a search was needed, rather than finding a name server based on cached hints.
serverUsed	set to true if a server was found and marked for use in future queries.

Implements yarp::os::NameSpace.

Definition at line 545 of file RosNameSpace.cpp.

◆ disconnectPortFromTopic()

bool RosNameSpace::disconnectPortFromTopic	(	const Contact &	src,
		const Contact &	dest,
		const ContactStyle &	style
	)

overridevirtual

Stop publishing a port to a topic.

Implements yarp::os::NameSpace.

Definition at line 432 of file RosNameSpace.cpp.

◆ disconnectPortToPortPersistently()

bool RosNameSpace::disconnectPortToPortPersistently	(	const Contact &	src,
		const Contact &	dest,
		const ContactStyle &	style
	)

overridevirtual

Disconnect two ports, removing any persistence.

Implements yarp::os::NameSpace.

Definition at line 466 of file RosNameSpace.cpp.

◆ disconnectTopicFromPort()

bool RosNameSpace::disconnectTopicFromPort	(	const Contact &	src,
		const Contact &	dest,
		const ContactStyle &	style
	)

overridevirtual

Stop subscribing a port to a topic.

Implements yarp::os::NameSpace.

Definition at line 444 of file RosNameSpace.cpp.

◆ fromRosName()

std::string RosNameSpace::fromRosName ( const std::string & name )

static

Definition at line 678 of file RosNameSpace.cpp.

◆ fromRosNodeName()

std::string RosNameSpace::fromRosNodeName ( const std::string & name )

static

Definition at line 712 of file RosNameSpace.cpp.

◆ getNameServerContact()

Contact RosNameSpace::getNameServerContact ( ) const

overridevirtual

Get an address for a name server that manages the name space, if available.

Implements yarp::os::NameSpace.

Definition at line 43 of file RosNameSpace.cpp.

◆ getProperty()

Value * RosNameSpace::getProperty	(	const std::string &	name,
		const std::string &	key
	)

overridevirtual

Get the value of a named key from a named port.

Returns: nullptr if no value was set for the named key.

Implements yarp::os::NameSpace.

Definition at line 396 of file RosNameSpace.cpp.

◆ localOnly()

bool RosNameSpace::localOnly ( ) const

overridevirtual

Check if the NameSpace is only valid for the current process ("local").

Implements yarp::os::NameSpace.

Definition at line 525 of file RosNameSpace.cpp.

◆ queryName()

Contact RosNameSpace::queryName ( const std::string & name )

overridevirtual

Map from port name to contact information.

Implements yarp::os::NameSpace.

Definition at line 48 of file RosNameSpace.cpp.

◆ registerAdvanced()

Contact RosNameSpace::registerAdvanced	(	const Contact &	contact,
		NameStore *	store
	)

overridevirtual

Record contact information, with access to the contact information of other ports for cross-referencing.

Parameters

contact	the contact information to record
store	an interface to port information as presented via the YARP client API (as opposed to what a single NameSpace would have access to).

Reimplemented from yarp::os::NameSpace.

Definition at line 110 of file RosNameSpace.cpp.

◆ registerContact()

Contact RosNameSpace::registerContact ( const Contact & contact )

overridevirtual

Record contact information (should include a port name).

Implements yarp::os::NameSpace.

Definition at line 105 of file RosNameSpace.cpp.

◆ registerName()

Contact RosNameSpace::registerName ( const std::string & name )

overridevirtual

Record contact information to tie to a port name.

Implements yarp::os::NameSpace.

Definition at line 95 of file RosNameSpace.cpp.

◆ rosify()

Contact RosNameSpace::rosify ( const Contact & contact )

static

Definition at line 717 of file RosNameSpace.cpp.

◆ run()

void RosNameSpace::run ( )

overridevirtual

Main body of the new thread.

Override this method to do what you want. After Thread::start is called, this method will start running in a separate thread. It is important that this method either keeps checking Thread::isStopping to see if it should stop, or you override the Thread::onStop method to interact with it in some way to shut the new thread down. There is no really reliable, portable way to stop a thread cleanly unless that thread cooperates.

Implements yarp::os::Thread.

Definition at line 730 of file RosNameSpace.cpp.

◆ serverAllocatesPortNumbers()

bool RosNameSpace::serverAllocatesPortNumbers ( ) const

overridevirtual

Check if a central server is responsible for allocating port numbers, or if this should be left up to the operating system.

Implements yarp::os::NameSpace.

Definition at line 535 of file RosNameSpace.cpp.

◆ setProperty()

bool RosNameSpace::setProperty	(	const std::string &	name,
		const std::string &	key,
		const Value &	value
	)

overridevirtual

Associate a key/value pair with a named port.

Implements yarp::os::NameSpace.

Definition at line 386 of file RosNameSpace.cpp.

◆ toRosName()

std::string RosNameSpace::toRosName ( const std::string & name )

static

Possible ROS names are a subset of YARP names.

For nodes, in practice there isn't much restriction, except ":" is definitely ruled out. Since plenty of valid YARP ports have a ":" in them, we need to quote this.

Definition at line 662 of file RosNameSpace.cpp.

◆ toRosNodeName()

std::string RosNameSpace::toRosNodeName ( const std::string & name )

static

Definition at line 707 of file RosNameSpace.cpp.

◆ unregisterAdvanced()

Contact RosNameSpace::unregisterAdvanced	(	const std::string &	name,
		NameStore *	store
	)

overridevirtual

Remove contact information, with access to the contact information of other ports for cross-referencing.

Reimplemented from yarp::os::NameSpace.

Definition at line 270 of file RosNameSpace.cpp.

◆ unregisterContact()

Contact RosNameSpace::unregisterContact ( const Contact & contact )

overridevirtual

Disassociate contact information (should include a port name).

Implements yarp::os::NameSpace.

Definition at line 366 of file RosNameSpace.cpp.

◆ unregisterName()

Contact RosNameSpace::unregisterName ( const std::string & name )

overridevirtual

Disassociate contact information from a port name.

Implements yarp::os::NameSpace.

Definition at line 265 of file RosNameSpace.cpp.

◆ usesCentralServer()

bool RosNameSpace::usesCentralServer ( ) const

overridevirtual

Check if a central server is involved in managing the NameSpace.

Implements yarp::os::NameSpace.

Definition at line 530 of file RosNameSpace.cpp.

◆ writeToNameServer()

bool RosNameSpace::writeToNameServer	(	PortWriter &	cmd,
		PortReader &	reply,
		const ContactStyle &	style
	)

overridevirtual

Write a message to a name server for this NameSpace, if applicable.

Messages are name-server-specific.

Implements yarp::os::NameSpace.

Definition at line 574 of file RosNameSpace.cpp.

The documentation for this class was generated from the following files:

src/libYARP_os/src/yarp/os/RosNameSpace.h
src/libYARP_os/src/yarp/os/RosNameSpace.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RosNameSpace()

◆ ~RosNameSpace()

Member Function Documentation

◆ connectionHasNameOfEndpoints()

◆ connectPortToPortPersistently()

◆ connectPortToTopic()

◆ connectTopic()

◆ connectTopicToPort()

◆ detectNameServer()

◆ disconnectPortFromTopic()

◆ disconnectPortToPortPersistently()

◆ disconnectTopicFromPort()

◆ fromRosName()

◆ fromRosNodeName()

◆ getNameServerContact()

◆ getProperty()

◆ localOnly()

◆ queryName()

◆ registerAdvanced()

◆ registerContact()

◆ registerName()

◆ rosify()

◆ run()

◆ serverAllocatesPortNumbers()

◆ setProperty()

◆ toRosName()

◆ toRosNodeName()

◆ unregisterAdvanced()

◆ unregisterContact()

◆ unregisterName()

◆ usesCentralServer()

◆ writeToNameServer()